/**
 * @file SmallObsMonitor.h
 * @author  
 * @brief 小障碍物检测
 * @version 1.0
 * @date 2020-07-23
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once
#include "data_struct/robot/Pose.h"
#include "lib/contour.h"

namespace behavior_controller
{

    class SmallObsMonitor
    {
        public :
        SmallObsMonitor(){};
        void run();
        bool check_small_obs();
        void get_area();

        public:
        Contour nwe_area;
        double nwe_area_side_len=-1;
        bool inited=false;
    };

    //static 
    extern SmallObsMonitor small_obs_monitor;
}